Orthotic device for haptic terrain feedback and control

Abstract

An orthotic device for haptic terrain feedback and control includes a plate having a mechatronic unit, a bladder structure secured to the plate, the bladder structure having one or more bladder cells, and a passageway extending between the bladder cell and an environment outside the orthotic device. The orthotic device is configured to provide haptic feedback to a user by way of selective inflation and deflation of the one or more bladder cells.

We claim: 
     
         1 . An orthotic device for haptic terrain feedback and control, comprising:
 a plate comprising a mechatronic unit;   a bladder structure secured to the plate, the bladder structure comprising a bladder cell; and   a passageway extending from the bladder cell to an exterior of the orthotic device in communication with ambient air,   wherein the mechatronic unit is operatively coupled to the bladder cell so as to control inflation and deflation of the bladder cell via movement of gas through the passageway.   
     
     
         2 . The orthotic device of  claim 1 , wherein the plate comprises a plurality of mechatronic units and a plurality of bladder cells, each mechatronic unit associated with a corresponding bladder cell. 
     
     
         3 . The orthotic device of  claim 1 , wherein the mechatronic unit comprises a valve moveable between an open position and a closed position to control movement of gas through the passageway. 
     
     
         4 . The orthotic device of  claim 1 , wherein the bladder cell is at least partially defined by one or more sidewalls. 
     
     
         5 . The orthotic device of  claim 1 , wherein the bladder cell is at least partially defined by the plate. 
     
     
         6 . The orthotic device of  claim 1 , wherein the bladder structure comprises at least four bladder cells. 
     
     
         7 . The orthotic device of  claim 2 , wherein the plurality of bladder cells are at least partially defined by separate sidewalls such that the bladder cells are independent of one another. 
     
     
         8 . The orthotic device of  claim 7 , wherein at least one of the separate sidewalls is curvilinear and omits T-junctions. 
     
     
         9 . The orthotic device of  claim 1 , wherein the bladder structure comprises a composite material. 
     
     
         10 . The orthotic device of  claim 9 , wherein the composite polymer material comprises a fabric-polymer composite material. 
     
     
         11 . An orthotic device for haptic terrain feedback and control, comprising:
 a bladder structure comprising a plurality of bladder cells; and   a mechatronic plate having one or more mechatronic units disposed therein, each mechatronic unit of the one or more mechatronic units being associated with a corresponding bladder cell of the bladder structure and each mechatronic unit comprising a valve,   wherein the valves are configured to be selectively opened and closed to allow a gas to flow in and out of corresponding bladder cells independently.   
     
     
         12 . The orthotic device of  claim 11 , wherein each of the one or more mechatronic units comprises a processor configured to control the valve. 
     
     
         13 . The orthotic device of  claim 12 , wherein each of the one or more mechatronic units further comprises: an accelerometer; a range finder; and a pressure sensor. 
     
     
         14 . The orthotic device of  claim 11 , wherein each of the plurality of bladder cells is at least partially defined by a sidewall. 
     
     
         15 . The orthotic device of  claim 14 , wherein none of each of the plurality of bladder cells shares a common sidewall such that each of the plurality of bladder cells is separate from the others. 
     
     
         16 . The orthotic device of  claim 11 , the valve comprising:
 a valve channel extending from a valve body; and   a housing surrounding a valve body, the housing comprising;
 an extension extending from the housing and forming a recessed channel, the recessed channel forming a ring around the valve channel. 
   
     
     
         17 . The orthotic device of  claim 16 , wherein the valve is embedded within the mechatronic plate such that a portion of the mechatronic plate extends into the recessed channel to form a tight seal between the mechatronic plate and the valve. 
     
     
         18 . An orthotic device for terrain control, comprising:
 a bladder structure that includes
 a plurality of bladder cells; and 
 one or more sidewalls at least partially defining the plurality of bladder cells; and 
   a plate secured to the bladder structure, the plate comprising:
 a mechatronic unit operatively coupled to the bladder structure to enable controllable inflation and deflation of one or more of the bladder cells; 
 a port; and 
 a passageway extending through the plate between at least one of the plurality of bladder cells and the port. 
   
     
     
         19 . The orthotic device of  claim 18 , wherein the plate comprises a valve configured to selectively open and close the passageway. 
     
     
         20 . The orthotic device of  claim 18 , wherein the plate comprises a plurality of mechatronic units, each associated with a respective bladder cell.